void can_init(CAN_TypeDef* CANx)
  {
    // активация модуля CAN1
    //RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);
    if (CANx==CAN1)
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1,ENABLE);
    else
        RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN2,ENABLE);


    NVIC_InitTypeDef  NVIC_InitStructure;
    NVIC_PriorityGroupConfig(NVIC_PriorityGroup_0);

    // установка канала CANx_RX0_IRQn контроллера прервыаний NVIC
    if (CANx==CAN1)
        NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
    else
        NVIC_InitStructure.NVIC_IRQChannel = CAN2_RX0_IRQn;

    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0x0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0x0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    // сброс регистров модуля CAN
    CAN_DeInit(CANx);

    CAN_InitTypeDef   CAN_InitStructure;
    CAN_StructInit(&CAN_InitStructure);
    // инициалищация модуля CAN
    CAN_InitStructure.CAN_TTCM = DISABLE;
    CAN_InitStructure.CAN_ABOM = DISABLE;
    CAN_InitStructure.CAN_AWUM = DISABLE;
    CAN_InitStructure.CAN_NART = DISABLE;
    CAN_InitStructure.CAN_RFLM = DISABLE;
    CAN_InitStructure.CAN_TXFP = DISABLE;
    //CAN_InitStructure.CAN_Mode = CAN_Mode_Normal;
    CAN_InitStructure.CAN_Mode = CAN_Mode_LoopBack;
    CAN_InitStructure.CAN_SJW = CAN_SJW_1tq;
    CAN_InitStructure.CAN_BS1 = CAN_BS1_3tq;
    CAN_InitStructure.CAN_BS2 = CAN_BS2_5tq;
    CAN_InitStructure.CAN_Prescaler = 4;//2
    CAN_Init(CANx, &CAN_InitStructure);

    // инициализация фильтра CAN
    CAN_FilterInitTypeDef  CAN_FilterInitStructure;
    CAN_FilterInitStructure.CAN_FilterNumber=0;
    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask;
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit;
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=0;
    CAN_FilterInitStructure.CAN_FilterActivation=ENABLE;
    CAN_FilterInit(&CAN_FilterInitStructure);

    // разрешение прерыания по приему сообщения в FIFO #0 модуля CAN1
    CAN_ITConfig(CANx, CAN_IT_FMP0 , ENABLE);

  }
//---------------------------------------------------------------------------------------
uint32_t can_tx(CAN_TypeDef* CANx , uint8_t* data , uint32_t size)
{
   CanTxMsg TxMessage;
    uint8_t TransmitMailbox = 0;

    //подготовка пакета для передачи
    TxMessage.StdId = 0x321;
    TxMessage.ExtId = 0x01;
    TxMessage.RTR = CAN_RTR_DATA;
    TxMessage.IDE = CAN_ID_STD;
    TxMessage.DLC = 1;
    TxMessage.Data[0] = 0x55;

    // передача пакета
    TransmitMailbox=CAN_Transmit(CANx, &TxMessage);
    uint32_t i = 0xffff;  // таймер таймаута по завершении передачи
    while((CAN_TransmitStatus(CANx, TransmitMailbox) != CANTXOK) && i )
      {
        i--;
      }
     if ( !i ) return 0xFFFFFFFF;
     return size;
  }
//--------------------------------------------------------------------------
void CAN1_RX0_IRQHandler(void)
{
  while(1); // ловим прерывания под отладчиком
}
void CAN2_RX0_IRQHandler(void)
{
  while(1); // ловим прерывания под отладчиком
}